Design of a Robust Controller Using Sliding Mode for Two Rotor Aero-Dynamic System

• Main Author: Yigitcan Coskunturk
• Format: Article
• Language: English
• Published: Tallinn University of Technology 2019-01-01
• Series: International Journal of Innovative Technology and Interdisciplinary Sciences
• Subjects: Helicopter; MIMO; LQR; SMC; TRAS; Lagrange’s Equations; Lagrangian
• Online Access: http://ijitis.org/index.php/ijitis/article/view/14/55

This paper deals with two rotor aero-dynamic system (TRAS) which is a multi-input multi-output highly coupled nonlinear system, for creating a mathematical model based following the Lagrange’s Equations, and creating controllers for Sliding Mode Control and Linear Quadratic Regulator. The Sliding Manifold is designed by employing the reduced order representation. Linear Quadratic Regulator has been created by linearizing the nonlinear system acquired by creating the state space representation following the mathematical model. The signal tracking conditions of PID, SMC, and LQR have been discussed. Although the proposed control methodology has perfect actuation time, the tracking efficiency was not satisfactory. Therefore, a rework on the parametrization and introduction of filters, i.e. types of Kalman Filters have been proposed as a conclusion.